Scald milk with orange peel, lemon peel and coffee beans in heavy, medium saucepan.
Whisk yolks and sugar in medium bowl to blend. Gradually whisk half of milk mixture into yolks. Return yolks to saucepan with remaining milk. Stir over low heat until mixture thickens slightly and leaves path on back of spoon when finger is drawn across, about 8 minutes; do not boil. Strain into medium bowl. Refrigerate until well chilled.
Assemble and attach the KitchenAid® Ice Cream attachment to the KitchenAid® Stand Mixer. Turn to STIR Speed. Using a container with a spout, pour mixture into freeze bowl. Continue on STIR Speed for 15 to 20 minutes or until desired consistency.
Transfer ice cream to airtight container and freeze several hours to allow flavors to ripen. Can be prepared up to 4 days ahead. If frozen solid, soften slightly in refrigerator about 20 minutes before serving.